Pension and Other Postretirement Benefit Plans - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2021 USD ($) pension_plan agreement	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Dec. 31, 2022 USD ($)
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation	$ 1,012.4	$ 1,079.6
Tax (expense) benefit related to defined benefit plans recognized in other comprehensive income (loss)	$ (22.7)	18.5	$ 13.7
Defined benefit plan, loss due to settlement		12.9
Curtailment gain			10.6
Number of multi-employer pension plans | pension_plan	2
Number of collective bargaining agreements | agreement	4
Defined Contribution Retirement Program
Defined Benefit Plan Disclosure [Line Items]
Defined contribution expense	$ 20.4	$ 18.3	17.6
Unionized Employees | Multi-employer Plan Total Contributions
Defined Benefit Plan Disclosure [Line Items]
Concentration risk percentage (more than)	5.00%	5.00%
U.S. | Minimum
Defined Benefit Plan Disclosure [Line Items]
Debt, weighted average interest rate	4.00%	4.00%
Foreign
Defined Benefit Plan Disclosure [Line Items]
Defined contribution expense	$ 16.4	$ 17.1	14.0
Pension | Forecast
Defined Benefit Plan Disclosure [Line Items]
Estimated required contributions to pension plans in next fiscal year				$ 2.0
Pension | Minimum
Defined Benefit Plan Disclosure [Line Items]
Period for amortizing actuarial losses	4 years
Pension | Maximum
Defined Benefit Plan Disclosure [Line Items]
Period for amortizing actuarial losses	32 years
Pension | U.S.
Defined Benefit Plan Disclosure [Line Items]
Defined benefit plan, loss due to settlement	$ 0.4	0.3	0.1
Curtailment gain	$ 0.0	0.0	0.0
Pension | U.S. | Minimum | Return Seeking Assets
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	45.00%
Pension | U.S. | Minimum | Risk Mitigating Assets
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	35.00%
Pension | U.S. | Maximum | Return Seeking Assets
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	65.00%
Pension | U.S. | Maximum | Risk Mitigating Assets
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	55.00%
Pension | Foreign
Defined Benefit Plan Disclosure [Line Items]
Defined benefit plan, loss due to settlement	$ 0.0	13.0	0.0
Curtailment gain	$ 0.0	0.0	2.3
Pension | Foreign | Minimum | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	20.00%
Pension | Foreign | Minimum | Fixed Income
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	30.00%
Pension | Foreign | Minimum | Alternative Investments
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	0.00%
Pension | Foreign | Minimum | Cash and Other
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	0.00%
Pension | Foreign | Maximum | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	60.00%
Pension | Foreign | Maximum | Fixed Income
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	70.00%
Pension | Foreign | Maximum | Alternative Investments
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	25.00%
Pension | Foreign | Maximum | Cash and Other
Defined Benefit Plan Disclosure [Line Items]
Target percentage of asset allocation	15.00%
Other Postretirement | Minimum
Defined Benefit Plan Disclosure [Line Items]
Period for amortizing actuarial losses	1 year
Other Postretirement | Maximum
Defined Benefit Plan Disclosure [Line Items]
Period for amortizing actuarial losses	17 years
Other Postretirement | U.S.
Defined Benefit Plan Disclosure [Line Items]
Curtailment gain	$ 0.0	0.0	0.0
Other Postretirement | Foreign
Defined Benefit Plan Disclosure [Line Items]
Curtailment gain	$ 0.0	$ 0.0	$ 10.6